Published May 22, 2026

Smart Blind Stick Simulator using STM32F446RE and FreeRTOS

Smart Blind Stick using STM32F446RE & FreeRTOS for real-time obstacle detection with ultrasonic sensor, buzzer and LED alerts.

IntermediateFull instructions provided19

Smart Blind Stick Simulator using STM32F446RE and FreeRTOS

Things used in this project

Hardware components

STMicroelectronics STM32 Nucleo-64 Board

Ultrasonic Sensor - HC-SR04 (Generic)

Buzzer

LED (generic)

Resistor 10k ohm

Breadboard (generic)

Jumper wires (generic)

Software apps and online services

STMicroelectronics STM32CUBEPROG

Story

This project is a Smart Blind Stick Simulator using STM32F446RE and FreeRTOS, designed to demonstrate a real-time obstacle detection system for assistive navigation.

The idea behind this project came from the challenges faced by visually impaired individuals while walking in unfamiliar or crowded environments. Traditional white canes only detect obstacles upon physical contact, which may not provide enough reaction time. To improve safety and responsiveness, this project simulates a smart system that can detect obstacles earlier and provide instant alerts.

The system uses an HC-SR04 ultrasonic sensor to continuously measure the distance of nearby objects. Based on the distance, a FreeRTOS-based multitasking system processes the data and controls a buzzer and LED. As the obstacle gets closer, the alert frequency increases automatically, helping the user react faster.

The project is built using multiple RTOS tasks: one for sensing, one for processing distance data, and one for generating alerts. Communication between tasks is handled using message queues, ensuring smooth and real-time operation.

This project demonstrates how embedded systems and RTOS can be used in real-world assistive technology applications. It can further be extended with vibration feedback, voice alerts, or GPS-based navigation in the future.

Code

Project code

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* Definitions for UltrasonicTask */
osThreadId_t UltrasonicTaskHandle;
const osThreadAttr_t UltrasonicTask_attributes = {
  .name = "UltrasonicTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityHigh,
};

/* Definitions for AlertTask */
osThreadId_t AlertTaskHandle;
const osThreadAttr_t AlertTask_attributes = {
  .name = "AlertTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};

/* Definitions for BuzzerTask */
osThreadId_t BuzzerTaskHandle;
const osThreadAttr_t BuzzerTask_attributes = {
  .name = "BuzzerTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow,
};

/* Definitions for DistanceQueue */
osMessageQueueId_t DistanceQueueHandle;
const osMessageQueueAttr_t DistanceQueue_attributes = {
  .name = "DistanceQueue"
};

/* USER CODE BEGIN PV */

uint16_t distance = 0;
uint16_t receivedDistance = 0;

volatile uint32_t alertDelay = 500;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);

void StartUltrasonicTask(void *argument);
void StartAlertTask(void *argument);
void StartBuzzerTask(void *argument);

/* USER CODE BEGIN PFP */

void delay_us(uint16_t us);
uint16_t Read_Distance(void);

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

void delay_us(uint16_t us)
{
  uint32_t start = DWT->CYCCNT;
  uint32_t ticks = us * (HAL_RCC_GetHCLKFreq() / 1000000);

  while((DWT->CYCCNT - start) < ticks);
}

uint16_t Read_Distance(void)
{
  uint32_t time = 0;

  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);
  delay_us(2);

  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);
  delay_us(10);

  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);

  while(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1) == GPIO_PIN_RESET);

  DWT->CYCCNT = 0;

  while(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1) == GPIO_PIN_SET);

  time = DWT->CYCCNT / (HAL_RCC_GetHCLKFreq() / 1000000);

  return (time * 0.034) / 2;
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  HAL_Init();

  SystemClock_Config();

  MX_GPIO_Init();

  /* USER CODE BEGIN 2 */

  CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
  DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;

  /* USER CODE END 2 */

  /* Init scheduler */
  osKernelInitialize();

  /* Create the queue */
  DistanceQueueHandle = osMessageQueueNew(16,
                                          sizeof(uint16_t),
                                          &DistanceQueue_attributes);

  /* Create the threads */
  UltrasonicTaskHandle = osThreadNew(StartUltrasonicTask,
                                     NULL,
                                     &UltrasonicTask_attributes);

  AlertTaskHandle = osThreadNew(StartAlertTask,
                                NULL,
                                &AlertTask_attributes);

  BuzzerTaskHandle = osThreadNew(StartBuzzerTask,
                                 NULL,
                                 &BuzzerTask_attributes);

  /* Start scheduler */
  osKernelStart();

  while (1)
  {
  }
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 84;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;r

  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK |
                                RCC_CLOCKTYPE_SYSCLK |
                                RCC_CLOCKTYPE_PCLK1 |
                                RCC_CLOCKTYPE_PCLK2;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct,
                          FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  HAL_GPIO_WritePin(GPIOA,
                    GPIO_PIN_0 | GPIO_PIN_5,
                    GPIO_PIN_RESET);

  HAL_GPIO_WritePin(GPIOB,
                    GPIO_PIN_0,
                    GPIO_PIN_RESET);

  /* PA0 = TRIG , PA5 = BUZZER */
  GPIO_InitStruct.Pin = GPIO_PIN_0 | GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* PA1 = ECHO */
  GPIO_InitStruct.Pin = GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;

  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* PB0 = LED */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief Function implementing the UltrasonicTask thread.
  * @param argument: Not used
  * @retval None
  */
void StartUltrasonicTask(void *argument)
{
  for(;;)
  {
    distance = Read_Distance();

    osMessageQueuePut(DistanceQueueHandle,
                      &distance,
                      0,
                      0);

    osDelay(100);
  }
}

/**
* @brief Function implementing the AlertTask thread.
* @param argument: Not used
* @retval None
*/
void StartAlertTask(void *argument)
{
  for(;;)
  {
    if(osMessageQueueGet(DistanceQueueHandle,
                         &receivedDistance,
                         NULL,
                         osWaitForever) == osOK)
    {
      if(receivedDistance < 20)
      {
        alertDelay = 100;
      }

      else if(receivedDistance < 50)
      {
        alertDelay = 300;
      }

      else
      {
        alertDelay = 700;
      }
    }
  }
}

/**
* @brief Function implementing the BuzzerTask thread.
* @param argument: Not used
* @retval None
*/
void StartBuzzerTask(void *argument)
{
  for(;;)
  {
    HAL_GPIO_WritePin(GPIOA,
                      GPIO_PIN_5,
                      GPIO_PIN_SET);

    HAL_GPIO_WritePin(GPIOB,
                      GPIO_PIN_0,
                      GPIO_PIN_SET);

    osDelay(alertDelay);

    HAL_GPIO_WritePin(GPIOA,
                      GPIO_PIN_5,
                      GPIO_PIN_RESET);

    HAL_GPIO_WritePin(GPIOB,
                      GPIO_PIN_0,
                      GPIO_PIN_RESET);

    osDelay(alertDelay);
  }
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  __disable_irq();

  while (1)
  {
  }
}

#ifdef USE_FULL_ASSERT

void assert_failed(uint8_t *file, uint32_t line)
{
}

#endif